The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM
Online ISSN : 2424-3116
会議情報
Dexterous Envelope grasping with Multi-Joint Gripper
Takumi TamamotoKazuhiro SayamaKoichi Koganezawa
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会議録・要旨集 認証あり

p. 98-99

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The study has proposed a multi joint gripper (MJG) that achieves envelope grasping for unknown shape objects. The mechanism mainly consists of a serially connected differential gear system (DGS) controlled by only two actuators. We have developed the MJG with seven joints and succeeded the envelope grasping of various shape objects with no sensory feedback. This paper proposes the way to control the joint stiffness followed by being elucidated with some simulation studies and experiments.

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© 2015 一般社団法人 日本機械学会
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